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macrobomastercontrolteam / Task_Board

Board of all tasks for control team
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MPC for swerve chassis #50

Open GJSK-Novice opened 1 week ago

GJSK-Novice commented 1 week ago

Investigate whether model-predictive control can apply for our swerve chassis platform.

Possible directions:

  1. swerve jumping
  2. solve synchronization problem of steering motor angle and actual chassis body movement. Because it takes time for steer and drive motor to reach the target status, use MPC to dynamically plan for the best changing function of the motor status relative to time. The objective is to let the chassis platform achieve the intended movement as quickly as possible with the least conflicting movement on each steering motors.